While quinoa is cooking, combine all of the sauce ingredients together in a bowl and whisk well to combine. Once quinoa has absorbed all of the liquid, stir in the sauce and toss well to coat. Add in chicken, carrots, edamame and green onions, stirring to combine. Taste and season with a little salt and pepper if needed. Toss in half of the peanuts and cilantro, then serve in a large bowl, topped with remaining peanuts and cilantro. I like to serve this with a salad, soup or even a little sandwich!